A fruit-collecting structure for agricultural harvesting robots with buffer function

Abstract

This invention relates to the field of agricultural harvesting machinery technology, specifically disclosing a fruit collection structure for an agricultural harvesting robot with a buffer function. The structure includes a harvesting frame, a telescopic frame, and a collection frame. The harvesting frame is fixedly mounted on the top of the telescopic frame, and the collection frame is fixedly mounted on one side of the harvesting frame. The collection component delivers the harvested fruit from inside the harvesting frame to the bottom, eliminating the need for resetting the telescopic frame during collection. This improves harvesting efficiency and prevents damage from fruit falling from a height after harvesting. After the fruit is harvested from a height using the harvesting frame, it is fed into the collection frame and sorted according to weight. This ensures the safety of the fruit during collection, guarantees its integrity after collection, and achieves automatic sorting, facilitating subsequent sorting of fruits of different sizes.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting machinery technology, specifically to a fruit collection structure for an agricultural harvesting robot with a buffer function. Background Technology

[0002] In recent years, agricultural machinery automation technology has developed rapidly, driven by the desire to improve the efficiency of traditional agricultural operations, reduce the labor intensity of agricultural production, and lower the cost of agricultural products. Fruit and vegetable harvesting robots are one of the main means of developing modern agricultural production. The end effector of the harvesting robot acts directly on the harvested object; therefore, the end effector of the harvesting robot must be able to directly and effectively realize the function of picking fruits and vegetables.

[0003] Fruits on trees are typically picked manually, which is labor-intensive. Since most fruits are located at high altitudes, pickers often need to climb trees or use ladders to reach them, making the entire picking process somewhat dangerous. While existing fruit-picking devices can pick the fruit, they require repeated control of the picking mechanism to extend and retract during the picking process to collect and process the fruit. Moreover, fruits are prone to falling and damaging themselves during the picking and collection process. Therefore, we propose an agricultural picking robot fruit collection structure with a buffer function. Summary of the Invention

[0004] In view of the above situation and to overcome the defects of the prior art, the present invention provides a fruit collection structure for an agricultural harvesting robot with a buffer function. In order to solve the problem that the current fruit harvesting device needs to repeatedly control the extension and resetting of the harvesting part in order to collect the fruit, the fruit is prone to falling and being damaged during the fruit harvesting process.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: an agricultural harvesting robot fruit collection structure with buffer function, including a harvesting frame, a telescopic frame and a collection frame, wherein the harvesting frame is fixedly installed on the top of the telescopic frame and the collection frame is fixedly installed on one side of the harvesting frame, and the harvesting component is installed inside the harvesting frame to perform pruning and harvesting of the fruit.

[0006] A mounting frame is fixedly installed on one side of the telescopic frame, and a guide frame is fixedly installed inside the mounting frame. The top of the guide frame is slidably connected to the inside of the collection frame, and a collection component is movably installed inside the collection frame. The collection component is used to send the harvested fruit from inside the harvesting frame to below the guide frame.

[0007] The harvesting assembly includes a movable frame, which is movably installed inside the harvesting frame. A first servo electric cylinder is fixedly installed around the bottom of the harvesting frame, and the drive end of the first servo electric cylinder is fixedly connected to the bottom of the movable frame. Two movable plates are slidably installed on the top of the movable frame via an electric slider. A clamping plate is installed on the top of each of the two movable plates via a micro electric cylinder, and a cutter is installed on the top of each of the two clamping plates via a servo motor.

[0008] The collection assembly includes a first collection plate and a second collection plate. The first collection frame is movably arranged inside the collection frame, and a second servo electric cylinder is fixedly arranged around the top of the first collection frame. The second collection plate is movably arranged on the top of the first collection plate, and the bottom of the second collection plate is fixedly connected to the drive ends of the four second servo electric cylinders. Air cushions are provided on the top of the first collection plate and the bottom of the second collection plate, and a pressure sensor is also provided at the bottom of the air cushion located on the top of the first collection plate.

[0009] Furthermore, a pusher plate is slidably provided on one side of the top of the movable frame via an electric slider, and a feeding port is provided on the inner wall of the picking frame near the collecting frame.

[0010] Furthermore, sponge pads are provided on the bottom of the movable frame and on the opposite sides of the two movable plates and the two clamping plates.

[0011] Furthermore, a drive frame is fixedly installed at the bottom of the first collecting plate, and a rotating rod is rotatably installed inside the drive frame. A drive motor is installed inside the drive frame, and the output shaft of the drive motor drives the rotating rod to rotate through two cooperating gears.

[0012] Furthermore, two drive gears are symmetrically fixed at both ends of the rotating rod, and movable grooves are provided on both sides of the inner wall of the guide frame. One side of each movable groove penetrates the guide frame and extends to one side of the inner wall of the collection frame. A transmission rack is fixedly provided on one side of the inner wall of each of the two movable grooves inside the guide frame and the collection frame. The two drive gears at one end of the rotating rod mesh with the surfaces of the two transmission racks on the same side for transmission.

[0013] Furthermore, a fixed rack is fixedly installed on the other side of the inner wall of the movable groove, and mounting blocks are fixedly installed on both sides of the bottom of the first collecting plate. A transmission gear is rotatably installed inside the two mounting blocks, and the surface of the transmission gear meshes with the surface of the fixed rack for transmission.

[0014] Furthermore, a number of discharge ports are provided at the bottom of one side of the guide frame, and one side of each of the discharge ports penetrates the interior of the guide frame and the mounting frame. A number of discharge racks are fixedly provided at the bottom of one side of the mounting frame, and the interior of each of the discharge racks is connected to the interior of the discharge ports.

[0015] Furthermore, two third servo electric cylinders are symmetrically fixed inside the discharge rack, and a material picking rack is fixedly installed at the drive end of each of the two third servo electric cylinders. A clamping block is movably installed on one side of each of the two material picking racks via a micro electric cylinder.

[0016] The beneficial effects achieved by the present invention using the above structure are as follows:

[0017] 1. By installing a picking frame at the top of a telescopic frame and a collecting frame on one side of the picking frame, and a picking component inside the picking frame, the picking component is used to prune and pick the fruit. The picked fruit is then sent into the collecting frame by the picking frame. The telescopic frame drives the picking frame to pick fruit at different locations. The picking frame and the collecting frame work together to automatically collect the picked fruit, preventing the fruit from falling from a height and causing damage. This ensures that the picked fruit is collected intact, and the fruit collection can be completed without controlling the telescopic frame to reset, thereby improving the efficiency of fruit picking.

[0018] 2. By fixing a guide frame inside the mounting frame and allowing the collection frame to move at the top of the guide frame, the harvested fruit is conveyed downwards using the collection components inside the collection frame. This eliminates the need for resetting the fruit by controlling the telescopic frame, preventing damage from fruit falling from a height after harvesting. After the fruit is harvested from a height using the harvesting frame, it is fed into the collection frame. The collection components then convey the fruit downwards from the top of the collection frame and sort it according to weight. This ensures the safety of the fruit during collection, guarantees its integrity after collection, and achieves automatic sorting, facilitating subsequent sorting of fruits of different sizes.

[0019] 3. By setting several discharge ports below the guide frame and setting discharge racks on one side of each discharge port, the weight of the fruit is detected and classified. The first collecting plate is controlled to descend to the side of different discharge ports. The third servo electric cylinder inside the horizontally set discharge rack drives the picking rack into the interior of the guide frame. Then, the clamping blocks on the opposite side of the two picking racks clamp the fruit on the first collecting plate and send it into the interior of the discharge rack. Different discharge racks are used to classify and send out fruits of different weights, realizing automatic classification and processing of fruits, which facilitates the subsequent sorting operation of fruits of different sizes. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic diagram of a fruit collection structure for an agricultural harvesting robot with a buffer function, according to an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the telescopic frame, mounting frame, and guide frame structure according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the picking rack and movable frame structure according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the collection rack and the first collection plate according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the first collecting plate and drive frame structure according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of the first collecting plate and the second collecting plate according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the internal structure of the discharge rack in an embodiment of the present invention.

[0028] In the diagram, 1. Harvesting rack; 2. Telescopic rack; 3. Collection rack; 4. Mounting rack; 5. Guide rack; 6. Movable rack; 7. First servo cylinder; 8. Movable plate; 9. Clamping plate; 10. Cutter; 11. Pushing plate; 12. Feed port; 13. First collection plate; 14. Second collection plate; 15. Second servo cylinder; 16. Air cushion; 17. Drive frame; 18. Rotating rod; 19. Drive gear; 20. Movable groove; 21. Transmission rack; 22. Fixed rack; 23. Mounting block; 24. Transmission gear; 25. Discharge port; 26. Discharge rack; 27. Third servo cylinder; 28. Picking rack; 29. ​​Clamping block. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] Example 1:

[0032] Please see Figure 1 and Figure 2 As shown, an agricultural harvesting robot fruit collection structure with a buffer function includes a harvesting frame 1, a telescopic frame 2, and a collection frame 3. The harvesting frame 1 is fixedly installed on the top of the telescopic frame 2, and the collection frame 3 is fixedly installed on one side of the harvesting frame 1. The harvesting frame 1 is equipped with a harvesting component, which is used to prune and harvest the fruit. The harvested fruit is then sent into the collection frame 3 by the harvesting frame 1. The telescopic frame 2 drives the harvesting frame 1 to harvest fruit at different positions. By using the cooperation between the harvesting frame 1 and the collection frame 3, the harvested fruit is automatically collected, preventing the harvested fruit from falling from a height and causing damage. This ensures that the harvested fruit is collected intact, and the fruit collection can be completed without controlling the telescopic frame 2 to reset, thereby improving the fruit harvesting efficiency.

[0033] A mounting frame 4 is fixedly installed on one side of the telescopic frame 2, and a guide frame 5 is fixedly installed inside the mounting frame 4. The top of the guide frame 5 is slidably connected to the inside of the collection frame 3, and a collection component is movably installed inside the collection frame 3. The collection component is used to send the harvested fruit from inside the harvesting frame 1 to below the guide frame 5, so that the fruit collection does not require the control of the telescopic frame 2 to reset. It also avoids the problem of fruit falling from a height and being damaged after harvesting. After the fruit is harvested from a height using the harvesting frame 1, the fruit is sent into the inside of the collection frame 3. At this time, the collection component inside the collection frame 3 is used to transport the fruit from the top to the bottom inside the collection frame 3, and sorts and discharges the fruit according to its weight. This not only ensures the safety of the fruit during the collection process and the integrity of the fruit after collection, but also realizes the automatic classification and processing of the fruit, which facilitates the subsequent sorting operation of fruits of different sizes.

[0034] Please see Figure 3As shown, the harvesting assembly further includes a movable frame 6, which is movably installed inside the harvesting frame 1. First servo cylinders 7 are fixedly installed around the bottom of the harvesting frame 1, and the drive end of the first servo cylinders 7 is fixedly connected to the bottom of the movable frame 6. Two movable plates 8 are slidably installed on the top of the movable frame 6 via electric sliders. Clamping plates 9 are installed on the top of each of the two movable plates 8 via micro-cylinders. Cutters 10 are rotated on the upper side of each of the two clamping plates 9 via servo motors, with the two cutters 10 rotating in the same direction. The rotating cutter 10 cuts off the branches on the fruit, thus enabling rapid harvesting of the fruit. A pusher plate 11 is slidably installed on one side of the top of the movable frame 6 via an electric slider. A feeding port 12 is provided on the inner wall of the harvesting frame 1 near the collecting frame 3. Sponge pads are provided on the bottom of the movable frame 6 and on the opposite sides of the two movable plates 8 and the two clamping plates 9. The sponge pads provide flexible protection for the harvested fruit, allowing the fruit to have a certain cushioning effect during harvesting and preventing the fruit from being damaged by direct impact with the harvesting components.

[0035] It should be noted that during fruit harvesting, the telescopic frame 2 moves the harvesting frame 1 closer to the fruit. After the harvesting frame 1 is positioned under the fruit, the first servo cylinder 7 at the bottom of the harvesting frame 1 drives the movable frame 6 upward until the top of the movable frame 6 contacts the bottom of the fruit. The two movable plates 8 are then moved closer to one side of the fruit until the sponge pads on one side of the two movable plates 8 contact the surface of the fruit. At this point, the clamping plates 9 at the top of the two movable plates 8 are raised until the cutters 10 on one side of the two clamping plates 9 are both above the fruit. The two cutters 10 are then rotated to cut off the branches above the fruit, completing the harvesting process. The fruit is harvested and processed. Then, the drive end of the first servo cylinder 7 is reset. The movable plate 8 is used to drive the harvested fruit into the inside of the harvesting rack 1. Then, the two movable plates 8 are controlled to move to both sides. Finally, the pusher plate 11 is controlled to push the fruit from the feeding port 12 on one side of the harvesting rack 1 into the inside of the collecting rack 3. By setting the harvesting component inside the harvesting rack 1 to harvest the fruit, on the one hand, the fruit is prevented from falling during the harvesting process, ensuring the stability of the fruit harvesting. On the other hand, the fruit is automatically transported from the harvesting rack 1 to the inside of the collecting rack 3, thereby realizing the continuous harvesting and collection of the fruit and improving the harvesting efficiency.

[0036] Please see Figures 4 to 6As shown, further, the collection assembly includes a first collection plate 13 and a second collection plate 14. The first collection plate 13 is movably arranged inside the collection rack 3, and second servo electric cylinders 15 are fixedly arranged around the top of the first collection rack 3. The second collection plate 14 is movably arranged on the top of the first collection plate 13, and the bottom of the second collection plate 14 is fixedly connected to the drive ends of the four second servo electric cylinders 15. Air cushions 16 are provided on the top of the first collection plate 13 and the bottom of the second collection plate 14, and a pressure sensor is also provided at the bottom of the air cushion 16 located on the top of the first collection plate 13. By controlling the first collection plate 13 to move inside the collection rack 3 to one side of the feeding port 12, the fruit is pushed through the feeding port by the pusher plate 11. 12 is pushed above the first collecting plate 13, and the air cushion 16 above the first collecting plate 13 provides flexible support for the bottom of the fruit. The pressure sensor at the top of the first collecting plate 13 detects the weight of the fruit. Then, the drive ends of the four second servo cylinders 15 are controlled to drive the second collecting plate 14 to move downward. The air cushion 16 at the bottom of the second collecting plate 14 contacts the top of the fruit. The upper and lower air cushions 16 provide flexible restraint for the fruit, preventing the fruit from shaking during the conveying process and ensuring the stability of the fruit conveying. The pressure sensor detects the weight of the fruit, thereby controlling the first collecting plate 13 to descend to different positions to discharge the fruit, realizing the classification and discharge processing of the fruit.

[0037] A drive frame 17 is fixedly installed at the bottom of the first collecting plate 13, and a rotating rod 18 is rotatably installed inside the drive frame 17. A drive motor is installed inside the drive frame 17, and the output shaft of the drive motor drives the rotating rod 18 to rotate through two mutually cooperating gears. Two drive gears 19 are symmetrically fixed at both ends of the rotating rod 18. Movable grooves 20 are provided on both sides of the inner wall of the guide frame 5, and one side of each of the two movable grooves 20 passes through the guide frame 5 and extends to one side of the inner wall of the collecting frame 3. A transmission rack 21 is fixedly installed on one side of the inner wall of each of the two movable grooves 20 inside the guide frame 5 and the collecting frame 3. The two drive gears 19 at one end of the rotating rod 18 mesh with the surfaces of the two transmission racks 21 on the same side, and the two drive gears 19 at the other end of the rotating rod 18 also mesh with the surfaces of the two transmission racks 21 on the same side.

[0038] A fixed rack 22 is fixedly installed on the other side of the inner wall of the movable groove 20. Mounting blocks 23 are fixedly installed on both sides of the bottom of the first collecting plate 13, and transmission gears 24 are rotatably installed inside the two mounting blocks 23. The surface of the transmission gears 24 meshes with the surface of the fixed rack 22 for transmission.

[0039] It should be noted that when collecting the harvested fruit, the drive frame 17 at the bottom of the first collecting plate 13 controls the rotating rod 18 to rotate clockwise. The drive gears 19 at both ends of the rotating rod 18 mesh with the surface of the transmission rack 21, allowing the drive gears 19 to move upward along the transmission rack 21 on one side of the inner wall of the movable groove 20. This causes the first collecting plate 13 to move upward inside the guide frame 5 and the collecting frame 3, controlling the first collecting plate 13 to move to one side of the feeding port 12 for fruit collection and conveying. While the surface of the drive gear 19 meshes with the surface of the transmission rack 21, the transmission gear 24 inside the mounting block 23 also meshes with the surface of the fixed rack 22. The meshing transmission of the transmission gear 24 and the fixed rack 22 ensures the stability of the first collecting plate 13 as it moves up and down inside the collecting frame 3 and the guide frame 5.

[0040] Example 2:

[0041] Please see Figure 2 and Figure 7 As shown, this embodiment further supplements the solution in Embodiment 1 above. Several discharge ports 25 are provided at the bottom of one side of the guide frame 5, and one side of each discharge port 25 penetrates the interior of the guide frame 5 and the mounting frame 4. Several discharge racks 26 are fixedly installed below one side of the mounting frame 4, and the interiors of the discharge racks 26 are respectively connected to the interiors of the discharge ports 25. Two third servo cylinders 27 are symmetrically fixedly installed inside the discharge racks 26, and a picking rack 28 is fixedly installed at the drive end of each of the two third servo cylinders 27. The opposite sides of the two picking racks 28 are movable via micro-cylinders. With clamping blocks 29, when collecting fruits, the weight of the fruits is detected and classified, and the first collecting plate 13 is controlled to descend to one side of different discharge ports 25. The third servo electric cylinder 27 inside the horizontally set discharge rack 26 drives the picking rack 28 into the interior of the guide rack 5. Then, the clamping blocks 29 on the opposite side of the two picking racks 28 clamp the fruits on the first collecting plate 13 and send them into the interior of the discharge rack 26. Different discharge racks 26 are used to classify and send out fruits of different weights, realizing automatic classification and processing of fruits, which facilitates the subsequent sorting operation of fruits of different sizes.

[0042] Example 3:

[0043] Please see Figures 1 to 7 As shown in the figure, this embodiment discloses a fruit collection method for an agricultural harvesting robot fruit collection structure with buffer function, which specifically includes the following steps:

[0044] Step 1: Control the telescopic frame 2 to move the picking frame 1 closer to the fruit. After the picking frame 1 is placed under the fruit, use the first servo electric cylinder 7 at the bottom of the picking frame 1 to drive the movable frame 6 to rise until the top of the movable frame 6 contacts the bottom of the fruit. Control the two movable plates 8 to move closer to one side of the fruit until the sponge pad on one side of the two movable plates 8 contacts the surface of the fruit. At this time, control the clamping plates 9 at the top of the two movable plates 8 to rise until the cutter 10 on one side of the two clamping plates 9 is above the fruit. Control the two cutter 10 to rotate and cut off the branches above the fruit to complete the fruit picking process.

[0045] Step 2: Control the drive end of the first servo cylinder 7 to reset, use the movable plate 8 to drive the picked fruit into the inside of the picking rack 1, then control the two movable plates 8 to move to both sides, and finally control the pusher plate 11 to push the fruit from the feeding port 12 on one side of the picking rack 1 into the inside of the collecting rack 3.

[0046] Step 3: The fruit is pushed above the first collecting plate 13 through the feeding port 12. The air cushion 16 above the first collecting plate 13 provides flexible support for the bottom of the fruit. The pressure sensor at the top of the first collecting plate 13 detects the weight of the fruit. Then, the drive ends of the four second servo cylinders 15 are controlled to drive the second collecting plate 14 to move downward. The air cushion 16 at the bottom of the second collecting plate 14 contacts the top of the fruit. The upper and lower air cushions 16 provide flexible restraint for the fruit.

[0047] Step 4: Control the rotating rod 18 to rotate counterclockwise by the drive frame 17 at the bottom of the first collecting plate 13. The drive gears 19 at both ends of the rotating rod 18 mesh with the surface of the transmission rack 21, allowing the drive gears 19 to move downward along the transmission rack 21 on one side of the inner wall of the movable groove 20, thereby allowing the first collecting plate 13 to move downward inside the guide frame 5 and the collecting frame 3, controlling the first collecting plate 13 to move to one side of the corresponding discharge port 25.

[0048] Step 5: By detecting and classifying the weight of the fruit, control the first collecting plate 13 to descend to one side of the different discharge port 25. Use the third servo electric cylinder 27 inside the horizontally set discharge rack 26 to drive the picking rack 28 into the inside of the guide rack 5. Then, use the clamping blocks 29 on the opposite side of the two picking racks 28 to clamp the fruit on the first collecting plate 13 and send it into the inside of the discharge rack 26. Use different discharge racks 26 to classify and send out fruits of different weights.

[0049] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0051] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0052] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A fruit collection structure for an agricultural harvesting robot with a buffer function, comprising a harvesting frame (1), a telescopic frame (2), and a collection frame (3), wherein the harvesting frame (1) is fixedly installed on the top of the telescopic frame (2), and the collection frame (3) is fixedly installed on one side of the harvesting frame (1), characterized in that: The picking rack (1) is equipped with a picking component inside, which performs pruning and picking of the fruit. The harvesting assembly includes a movable frame (6), which is movably installed inside the harvesting frame (1). A first servo electric cylinder (7) is fixedly installed around the bottom of the harvesting frame (1), and the drive end of the first servo electric cylinder (7) is fixedly connected to the bottom of the movable frame (6). Two movable plates (8) are slidably installed on the top of the movable frame (6) by an electric slider. A clamping plate (9) is installed on the top of each of the two movable plates (8) by a micro electric cylinder. A cutter (10) is installed on the top of each of the two clamping plates (9) by a servo motor. A pusher plate (11) is slidably installed on one side of the top of the movable frame (6) by an electric slider. A feeding port (12) is provided on the inner wall of the harvesting frame (1) near the collecting frame (3). A mounting frame (4) is fixedly installed on one side of the telescopic frame (2), and a guide frame (5) is fixedly installed inside the mounting frame (4). The top of the guide frame (5) is slidably connected to the inside of the collection frame (3), and a collection component is movably installed inside the collection frame (3). The collection component delivers the harvested fruit from inside the harvesting frame (1) to below the guide frame (5). The collection assembly includes a first collection plate (13) and a second collection plate (14). The first collection frame (3) is movably arranged inside the collection rack (3), and second servo electric cylinders (15) are fixedly arranged around the top of the first collection frame (3). The second collection plate (14) is movably arranged on the top of the first collection plate (13), and the bottom of the second collection plate (14) is fixedly connected to the drive ends of the four second servo electric cylinders (15). Air cushions (16) are provided on the top of the first collection plate (13) and the bottom of the second collection plate (14), and a pressure sensor is also provided at the bottom of the air cushion (16) located on the top of the first collection plate (13). A drive frame (17) is fixedly arranged at the bottom of the first collection plate (13), and the drive frame (17) The internal rotating part is provided with a rotating rod (18), and the drive frame (17) is provided with a drive motor. The output shaft of the drive motor drives the rotating rod (18) to rotate through two mutually cooperating gears. Two drive gears (19) are symmetrically fixed at both ends of the rotating rod (18). Movable grooves (20) are provided on both sides of the inner wall of the guide frame (5). One side of each of the two movable grooves (20) penetrates the guide frame (5) and extends to one side of the inner wall of the collection frame (3). One side of each of the two movable grooves (20) inside the guide frame (5) and the collection frame (3) is fixedly provided with a transmission rack (21). The two drive gears (19) at one end of the rotating rod (18) mesh with the surfaces of the two transmission racks (21) on the same side respectively. The bottom of one side of the guide frame (5) is provided with several discharge ports (25), and one side of each discharge port (25) passes through the interior of the guide frame (5) and the mounting frame (4). Several discharge racks (26) are fixedly provided below one side of the mounting frame (4), and the interior of each discharge rack (26) is connected to the interior of each discharge port (25). Two third servo electric cylinders (27) are symmetrically fixedly provided inside the discharge rack (26), and a picking rack (28) is fixedly provided at the drive end of each of the two third servo electric cylinders (27). A clamping block (29) is movably provided on the opposite side of each of the two picking racks (28) through a micro electric cylinder.

2. The fruit collection structure of an agricultural harvesting robot with buffer function according to claim 1, characterized in that: The bottom of the movable frame (6) and the opposite sides of the two movable plates (8) and the two clamping plates (9) are all provided with sponge pads.

3. The fruit collection structure of an agricultural harvesting robot with buffer function according to claim 1, characterized in that: A fixed rack (22) is fixedly installed on the other side of the inner wall of the movable groove (20). Mounting blocks (23) are fixedly installed on both sides of the bottom of the first collecting plate (13), and transmission gears (24) are rotatably installed inside the two mounting blocks (23). The surface of the transmission gears (24) meshes with the surface of the fixed rack (22) for transmission.

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